// MESSAGE EKF_EXT PACKING

#define MAVLINK_MSG_ID_EKF_EXT 206

typedef struct __mavlink_ekf_ext_t
{
 uint64_t timestamp; /*<  Time since system start [us]*/
 float Windspeed; /*<  Magnitude of wind velocity (in lateral inertial plane) [m/s]*/
 float WindDir; /*<  Wind heading angle from North [rad]*/
 float WindZ; /*<  Z (Down) component of inertial wind velocity [m/s]*/
 float Airspeed; /*<  Magnitude of air velocity [m/s]*/
 float beta; /*<  Sideslip angle [rad]*/
 float alpha; /*<  Angle of attack [rad]*/
} mavlink_ekf_ext_t;

#define MAVLINK_MSG_ID_EKF_EXT_LEN 32
#define MAVLINK_MSG_ID_206_LEN 32

#define MAVLINK_MSG_ID_EKF_EXT_CRC 64
#define MAVLINK_MSG_ID_206_CRC 64



#define MAVLINK_MESSAGE_INFO_EKF_EXT { \
	"EKF_EXT", \
	7, \
	{  { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ekf_ext_t, timestamp) }, \
         { "Windspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_ext_t, Windspeed) }, \
         { "WindDir", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_ext_t, WindDir) }, \
         { "WindZ", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_ext_t, WindZ) }, \
         { "Airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ekf_ext_t, Airspeed) }, \
         { "beta", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ekf_ext_t, beta) }, \
         { "alpha", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ekf_ext_t, alpha) }, \
         } \
}


/**
 * @brief Pack a ekf_ext message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param timestamp  Time since system start [us]
 * @param Windspeed  Magnitude of wind velocity (in lateral inertial plane) [m/s]
 * @param WindDir  Wind heading angle from North [rad]
 * @param WindZ  Z (Down) component of inertial wind velocity [m/s]
 * @param Airspeed  Magnitude of air velocity [m/s]
 * @param beta  Sideslip angle [rad]
 * @param alpha  Angle of attack [rad]
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_ekf_ext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
						       uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
	_mav_put_uint64_t(buf, 0, timestamp);
	_mav_put_float(buf, 8, Windspeed);
	_mav_put_float(buf, 12, WindDir);
	_mav_put_float(buf, 16, WindZ);
	_mav_put_float(buf, 20, Airspeed);
	_mav_put_float(buf, 24, beta);
	_mav_put_float(buf, 28, alpha);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
#else
	mavlink_ekf_ext_t packet;
	packet.timestamp = timestamp;
	packet.Windspeed = Windspeed;
	packet.WindDir = WindDir;
	packet.WindZ = WindZ;
	packet.Airspeed = Airspeed;
	packet.beta = beta;
	packet.alpha = alpha;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif

	msg->msgid = MAVLINK_MSG_ID_EKF_EXT;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
}

/**
 * @brief Pack a ekf_ext message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param timestamp  Time since system start [us]
 * @param Windspeed  Magnitude of wind velocity (in lateral inertial plane) [m/s]
 * @param WindDir  Wind heading angle from North [rad]
 * @param WindZ  Z (Down) component of inertial wind velocity [m/s]
 * @param Airspeed  Magnitude of air velocity [m/s]
 * @param beta  Sideslip angle [rad]
 * @param alpha  Angle of attack [rad]
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_ekf_ext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
						           uint64_t timestamp,float Windspeed,float WindDir,float WindZ,float Airspeed,float beta,float alpha)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
	_mav_put_uint64_t(buf, 0, timestamp);
	_mav_put_float(buf, 8, Windspeed);
	_mav_put_float(buf, 12, WindDir);
	_mav_put_float(buf, 16, WindZ);
	_mav_put_float(buf, 20, Airspeed);
	_mav_put_float(buf, 24, beta);
	_mav_put_float(buf, 28, alpha);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
#else
	mavlink_ekf_ext_t packet;
	packet.timestamp = timestamp;
	packet.Windspeed = Windspeed;
	packet.WindDir = WindDir;
	packet.WindZ = WindZ;
	packet.Airspeed = Airspeed;
	packet.beta = beta;
	packet.alpha = alpha;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif

	msg->msgid = MAVLINK_MSG_ID_EKF_EXT;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
}

/**
 * @brief Encode a ekf_ext struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param ekf_ext C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_ekf_ext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_ext_t* ekf_ext)
{
	return mavlink_msg_ekf_ext_pack(system_id, component_id, msg, ekf_ext->timestamp, ekf_ext->Windspeed, ekf_ext->WindDir, ekf_ext->WindZ, ekf_ext->Airspeed, ekf_ext->beta, ekf_ext->alpha);
}

/**
 * @brief Encode a ekf_ext struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param ekf_ext C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_ekf_ext_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_ext_t* ekf_ext)
{
	return mavlink_msg_ekf_ext_pack_chan(system_id, component_id, chan, msg, ekf_ext->timestamp, ekf_ext->Windspeed, ekf_ext->WindDir, ekf_ext->WindZ, ekf_ext->Airspeed, ekf_ext->beta, ekf_ext->alpha);
}

/**
 * @brief Send a ekf_ext message
 * @param chan MAVLink channel to send the message
 *
 * @param timestamp  Time since system start [us]
 * @param Windspeed  Magnitude of wind velocity (in lateral inertial plane) [m/s]
 * @param WindDir  Wind heading angle from North [rad]
 * @param WindZ  Z (Down) component of inertial wind velocity [m/s]
 * @param Airspeed  Magnitude of air velocity [m/s]
 * @param beta  Sideslip angle [rad]
 * @param alpha  Angle of attack [rad]
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_ekf_ext_send(mavlink_channel_t chan, uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
	_mav_put_uint64_t(buf, 0, timestamp);
	_mav_put_float(buf, 8, Windspeed);
	_mav_put_float(buf, 12, WindDir);
	_mav_put_float(buf, 16, WindZ);
	_mav_put_float(buf, 20, Airspeed);
	_mav_put_float(buf, 24, beta);
	_mav_put_float(buf, 28, alpha);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
#else
	mavlink_ekf_ext_t packet;
	packet.timestamp = timestamp;
	packet.Windspeed = Windspeed;
	packet.WindDir = WindDir;
	packet.WindZ = WindZ;
	packet.Airspeed = Airspeed;
	packet.beta = beta;
	packet.alpha = alpha;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)&packet, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)&packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_EKF_EXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_ekf_ext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char *buf = (char *)msgbuf;
	_mav_put_uint64_t(buf, 0, timestamp);
	_mav_put_float(buf, 8, Windspeed);
	_mav_put_float(buf, 12, WindDir);
	_mav_put_float(buf, 16, WindZ);
	_mav_put_float(buf, 20, Airspeed);
	_mav_put_float(buf, 24, beta);
	_mav_put_float(buf, 28, alpha);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
#else
	mavlink_ekf_ext_t *packet = (mavlink_ekf_ext_t *)msgbuf;
	packet->timestamp = timestamp;
	packet->Windspeed = Windspeed;
	packet->WindDir = WindDir;
	packet->WindZ = WindZ;
	packet->Airspeed = Airspeed;
	packet->beta = beta;
	packet->alpha = alpha;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)packet, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE EKF_EXT UNPACKING


/**
 * @brief Get field timestamp from ekf_ext message
 *
 * @return  Time since system start [us]
 */
static inline uint64_t mavlink_msg_ekf_ext_get_timestamp(const mavlink_message_t* msg)
{
	return _MAV_RETURN_uint64_t(msg,  0);
}

/**
 * @brief Get field Windspeed from ekf_ext message
 *
 * @return  Magnitude of wind velocity (in lateral inertial plane) [m/s]
 */
static inline float mavlink_msg_ekf_ext_get_Windspeed(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field WindDir from ekf_ext message
 *
 * @return  Wind heading angle from North [rad]
 */
static inline float mavlink_msg_ekf_ext_get_WindDir(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field WindZ from ekf_ext message
 *
 * @return  Z (Down) component of inertial wind velocity [m/s]
 */
static inline float mavlink_msg_ekf_ext_get_WindZ(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field Airspeed from ekf_ext message
 *
 * @return  Magnitude of air velocity [m/s]
 */
static inline float mavlink_msg_ekf_ext_get_Airspeed(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field beta from ekf_ext message
 *
 * @return  Sideslip angle [rad]
 */
static inline float mavlink_msg_ekf_ext_get_beta(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field alpha from ekf_ext message
 *
 * @return  Angle of attack [rad]
 */
static inline float mavlink_msg_ekf_ext_get_alpha(const mavlink_message_t* msg)
{
	return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Decode a ekf_ext message into a struct
 *
 * @param msg The message to decode
 * @param ekf_ext C-struct to decode the message contents into
 */
static inline void mavlink_msg_ekf_ext_decode(const mavlink_message_t* msg, mavlink_ekf_ext_t* ekf_ext)
{
#if MAVLINK_NEED_BYTE_SWAP
	ekf_ext->timestamp = mavlink_msg_ekf_ext_get_timestamp(msg);
	ekf_ext->Windspeed = mavlink_msg_ekf_ext_get_Windspeed(msg);
	ekf_ext->WindDir = mavlink_msg_ekf_ext_get_WindDir(msg);
	ekf_ext->WindZ = mavlink_msg_ekf_ext_get_WindZ(msg);
	ekf_ext->Airspeed = mavlink_msg_ekf_ext_get_Airspeed(msg);
	ekf_ext->beta = mavlink_msg_ekf_ext_get_beta(msg);
	ekf_ext->alpha = mavlink_msg_ekf_ext_get_alpha(msg);
#else
	memcpy(ekf_ext, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_EKF_EXT_LEN);
#endif
}
